Intelligent flexible adjustable assembly tool for composite material wing box section

Abstract

The invention belongs to the technical field of aerospace equipment assembly, and discloses a composite material wing box section intelligent flexible adjustable assembly tool which comprises a tool frame. The positioning assembly is installed in the tool frame and comprises a lower wall plate positioning device, an upper beam positioning device, a lower beam positioning device, a left end rib positioning device, a right end rib positioning device and an upper wall plate positioning device which are used for clamping a lower wall plate, an upper beam plate, a lower beam plate, a left end rib plate, a right end rib plate and a first upper wall plate of the wing box structure respectively; the mounting assembly comprises a six-degree-of-freedom mechanical arm and a storage rack, a mounting part is arranged at the tail end of the six-degree-of-freedom mechanical arm, a second upper wall plate is placed on the storage rack, and the six-degree-of-freedom mechanical arm is used for mounting the second upper wall plate on the wing box structure through the mounting part; and the adjusting part is used for leveling the tool frame. According to the method, the assembly precision, efficiency and universality can be greatly improved, the structural damage risk is reduced, and reliable technical support is provided for assembly of composite material complex components.

Description

Technical Field

[0001] This invention belongs to the field of aerospace equipment assembly technology, and particularly relates to an intelligent flexible adjustable assembly tooling for composite material wing box sections. Background Technology

[0002] With the rapid development of aerospace technology towards lightweighting and high maneuverability, composite materials, with their outstanding advantages such as high specific strength, excellent fatigue resistance, and strong designability, are increasingly widely used in the aerospace field and have become the preferred material for core load-bearing structures such as wing box sections. Composite material wing box section components typically consist of upper panels, lower panels, upper beams, lower beams, end ribs, and intermediate wing ribs, characterized by complex structures, a large number of parts, and significant weak rigidity. This places stringent requirements on the positioning accuracy, clamping stability, stress control, and ease of operation during the assembly process. Existing assembly tooling is gradually revealing many technical bottlenecks, making it difficult to meet the demands for high-precision, high-efficiency, and flexible assembly.

[0003] 1. Existing assembly fixtures separate positioning and clamping functions, resulting in low assembly efficiency and difficulty in ensuring accuracy. In traditional composite material wing box assembly fixtures, the positioning and clamping mechanisms are often independently designed, requiring multiple steps of "positioning-calibration-clamping" to fix the parts. This not only prolongs the assembly cycle but also easily leads to positioning datum shifts due to process switching, accumulating assembly errors. Especially for weakly rigid parts such as lower beams and end ribs, traditional clamping methods often use a single mechanical pressing structure, which can easily cause local deformation of the parts. At the same time, the matching design of positioning holes and pins lacks adaptability, making it difficult to balance positioning accuracy and clamping stability. This results in the risk of micro-displacement of parts during assembly, affecting the overall assembly accuracy of the wing box.

[0004] 2. Insufficient space is provided for unloading existing assembly fixtures, leading to significant operational interference. Most existing fixtures are designed with fixed structures and have not been specifically optimized for the unloading of the wing box after assembly. The fixed positions of the lower beam positioning device and the right end rib positioning device result in a narrow gap between the wing box and the fixture. This makes it easy for assembled parts to collide and scratch with the positioning mechanism during unloading, affecting product quality and requiring additional manpower to adjust the fixture or move the wing box, thus reducing production efficiency. Furthermore, while some fixtures attempt to provide unloading space, they lack structured adjustment mechanisms, resulting in insufficient flexibility.

[0005] 3. The manual adjustment process suffers from poor adaptability, and the assembly of complex curvature parts is difficult. Parts such as the upper panel often have complex surface curvatures. Traditional tooling relies on manual adjustment of the part's posture, which is not only labor-intensive but also prone to human error leading to substandard panel fit, affecting the aerodynamic shape and structural strength of the wing box. Furthermore, manual adjustment cannot quickly adapt to upper panel parts with different curvatures and specifications, resulting in poor tooling versatility. Dedicated tooling needs to be designed separately for different wing box models, increasing production costs and storage pressure.

[0006] 4. The lack of an effective monitoring mechanism in assembly tooling makes it difficult to control the risk of stress concentration. Composite material parts are extremely sensitive to the stress state during assembly. Traditional tooling lacks effective stress and strain monitoring devices, making it impossible to detect changes in tension and compression and the strain state of parts in real time during positioning and clamping. Uneven stress and over-clamping can easily lead to stress concentration, causing hidden damage inside the parts and seriously affecting the service safety and durability of the wing box section. In addition, the lack of real-time feedback on the deformation and attitude deviation of parts during assembly makes it impossible to provide data support for attitude adjustment operations, further exacerbating the instability of assembly quality.

[0007] 5. Existing assembly tooling is mostly specialized, customized for specific wing box sections, lacking versatility and unable to adapt to the assembly needs of composite material wing box sections of different specifications and structures. Furthermore, traditional tooling often separates positioning and clamping functions, resulting in cumbersome operation procedures and low assembly efficiency. Moreover, the lack of effective stress monitoring and deformation feedback mechanisms during assembly makes parts susceptible to damage due to stress concentration or assembly errors, affecting assembly quality and structural reliability. In addition, existing tooling often suffers from insufficient ergonomics and inconvenient unloading operations, further restricting the convenience and efficiency of assembly operations.

[0008] In summary, existing composite material wing box assembly fixtures have significant shortcomings in terms of positioning and clamping integration, ease of unloading operations, automation of complex part attitude adjustment, accuracy of assembly process monitoring, and tooling versatility, which restrict the assembly quality and production efficiency of composite material wing box sections.

[0009] Therefore, there is an urgent need for a smart, flexible, and adjustable assembly tooling for composite material wing box sections to solve the above problems. Summary of the Invention

[0010] The purpose of this invention is to provide an intelligent, flexible, and adjustable assembly tooling for composite material wing box sections to solve the problems existing in the prior art.

[0011] To achieve the above objectives, the present invention provides the following solution: The present invention provides an intelligent flexible adjustable assembly tooling for composite material wing box sections, comprising:

[0012] Tooling frame;

[0013] A positioning assembly is installed within the tooling frame. The positioning assembly includes a lower wall panel positioning device, an upper beam positioning device, a lower beam positioning device, a left end rib positioning device, a right end rib positioning device, and an upper wall panel positioning device, which are respectively used to clamp the lower wall panel, upper beam panel, lower beam panel, left end rib, right end rib, and first upper wall panel of the wing box structure.

[0014] The mounting assembly includes a six-degree-of-freedom robotic arm and a shelf. The end of the six-degree-of-freedom robotic arm is provided with a mounting component. A second upper wall panel is placed on the shelf. The six-degree-of-freedom robotic arm mounts the second upper wall panel onto the wing box structure through the mounting component.

[0015] An adjusting component is provided on the tooling frame, and the adjusting component is used to level the tooling frame.

[0016] Preferably, the lower wall panel positioning device includes a first tooling vertical positioning plate, a second tooling vertical positioning plate, a first lower skin side ear positioning plate, and a second lower skin side ear positioning plate, all fixedly connected within the tooling frame. Each of the first tooling vertical positioning plate, the second tooling vertical positioning plate, the first lower skin side ear positioning plate, and the second lower skin side ear positioning plate has multiple positioning holes. The lower wall panel is connected to these positioning holes via positioning pins.

[0017] Preferably, the upper beam positioning device includes a left-side force-measuring positioning device, a middle-side force-measuring positioning device, and a right-side force-measuring positioning device. Each of the three devices includes a connector fixedly connected to the inner wall of the tooling frame. The bottom end of the connector is fixedly connected to an upper beam positioning block base. The bottom end of the upper beam positioning block base is fixedly connected to an upper beam positioning block via a six-dimensional force sensor. The upper beam positioning block is in contact with the upper beam plate, and a rotating positioning pin is provided on the upper beam positioning block.

[0018] Preferably, the lower beam positioning device includes a lower beam tooling plate, fixedly connected to the lower part of the tooling frame. A lower beam positioning device fixing plate is slidably connected to the lower beam tooling plate via a lower beam guide shaft. Multiple lower beam positioning mechanisms are installed on the lower beam positioning device fixing plate. Each lower beam positioning mechanism includes a lower beam positioning block connecting plate, with a lower beam pin fixing block fixedly connected to the lower beam tooling plate via a three-dimensional force sensor at its top end. A lower beam locking nut is provided on the lower beam pin fixing block, and a rotating positioning pin is provided on the lower beam locking nut. The lower beam pin fixing block is in contact with the lower beam plate. A lower beam positioning mechanism cylinder connecting plate is fixedly connected to the bottom end of the lower beam positioning device fixing plate. A lower beam positioning mechanism cylinder mounting plate is fixedly connected to the lower beam tooling plate. A rod-measuring flange type standard cylinder is fixedly connected to the lower beam positioning mechanism cylinder mounting plate. The telescopic end of the rod-measuring flange type standard cylinder is fixedly connected to the lower beam positioning mechanism cylinder connecting plate.

[0019] Preferably, the left-end rib positioning device includes a first left-end rib positioning block support device and a second left-end rib positioning block support device, which are respectively fixedly connected to the left side wall inside the tooling frame. The first left-end rib positioning block support device and the second left-end rib positioning block support device include a left-end rib positioning block support, which is installed on the tooling frame through a connector. A left-end rib pin positioning block is fixedly connected to the left-end rib positioning block support. A left-end rib positioning block connecting plate is fixedly connected to the left-end rib pin positioning block through a six-dimensional force sensor. A rotating positioning pin is provided on the left-end rib positioning block connecting plate. The left-end rib positioning block connecting plate is in contact with the left-end rib plate.

[0020] Preferably, the right-end rib positioning device includes a right-end rib positioning plate moving stage and a pushing structure. The right-end rib positioning plate moving stage includes a transverse moving stage base plate fixedly connected to the inner wall of the tooling frame. A square linear slider is slidably connected to the transverse moving stage base plate. A vertical plate is fixedly connected to one end of the square linear slider. The pushing structure includes a right-end rib cylinder support plate fixedly connected to the tooling frame. A thin guide rod cylinder is fixedly connected to the right-end rib cylinder support plate. The telescopic end of the thin guide rod cylinder is fixedly connected to the square linear slider through a cylinder push plate. The vertical plate is connected to the right-end rib plate through a rotating positioning pin. A baffle is fixedly connected to the transverse moving stage base plate.

[0021] Preferably, the upper wall panel positioning device includes a first positioning shaft and two second positioning shafts. A side rotation positioning pin support is fixedly connected to the vertical plate. The first positioning shaft is fixedly connected to the side rotation positioning pin support. The upper and lower parts of the second tooling vertical positioning plate are respectively fixedly connected to an upper wall panel rotation positioning pin support and an upper wall panel lower rotation positioning pin support. The two second positioning shafts are respectively fixedly connected to the upper wall panel rotation positioning pin support and the upper wall panel lower rotation positioning pin support. Three positioning holes are provided on the side wall of the first upper wall panel. The first positioning shaft and the two second positioning shafts correspond one-to-one with the three positioning holes. A first pressure plate support, a second pressure plate support, a third pressure plate support, and a fourth pressure plate support are fixedly connected to the inner wall of the tooling frame. A first pressure plate is provided between the first pressure plate support and the third pressure plate support. A second pressure plate is provided between the second pressure plate support and the third pressure plate support. The first pressure plate and the second pressure plate support are respectively in contact with the first upper wall panel.

[0022] Preferably, the end of the six-degree-of-freedom robotic arm is connected to a positioning block connecting plate via an end flange. The positioning block connecting plate is provided with multiple vacuum suction cups, which are used to adsorb the second upper wall plate. The curvature of the vacuum suction cups is adapted to that of the second upper wall plate.

[0023] Preferably, the rotary positioning pin includes a straight rod and a threaded rod, the straight rod and the threaded rod are integrally formed, and the upper beam positioning block, the lower beam locking nut, the left end rib positioning block connecting plate and the vertical plate are all provided with open holes and threaded holes, the straight rod is adapted to the open holes, and the threaded rod is threadedly connected to the threaded holes.

[0024] Preferably, the adjusting component includes a plurality of tooling base adjustable nuts, which are respectively fixedly connected to the tooling frame. The tooling base adjustable nuts are threadedly connected to tooling base adjustable bolts, and the bottom end of the tooling base adjustable bolts is fixedly connected to a bottom support.

[0025] Compared with the prior art, the present invention has the following advantages and technical effects:

[0026] 1. This invention provides an intelligent, flexible, and adjustable assembly fixture for composite material wing box sections. It integrates positioning and clamping via a rotating pin, simplifying operation and improving accuracy. The innovative design utilizes an integrated rotating pin with a straight rod and threaded section, combined with a segmented design of smooth holes and threaded holes on the positioning block. This allows for simultaneous part positioning and clamping with a single rotation, completely changing the cumbersome traditional operation mode where positioning and clamping functions are separated.

[0027] 2. This invention provides an intelligent, flexible, and adjustable assembly fixture for composite material wing box sections, featuring dedicated unloading space and an obstacle avoidance mechanism, solving the traditional unloading problems. In the lower beam positioning device, a flange-type standard cylinder drives the connecting plate to rise and fall. A sliding mechanism is added to the right-end rib positioning device, using a thin guide rod cylinder to drive the positioning plate to move horizontally and avoid obstacles. This dual design completely solves the problems of insufficient unloading space and interference between parts and the fixture in traditional fixtures, effectively preventing collisions or scratches that could damage the assembled wing box structure during unloading.

[0028] 3. The present invention provides an intelligent flexible adjustable assembly fixture for composite material wing box sections. The six-degree-of-freedom robotic arm is precisely adjustable to adapt to complex curvatures and automated assembly. For the assembly requirements of the upper panel, it is equipped with a six-degree-of-freedom robotic arm positioning device. Its end vacuum suction cup can flexibly adjust the angle according to the curvature of the panel. Through the precise movement and rotation of the robotic arm joints, combined with the real-time posture data provided by the laser tracker and laser scanner, the spatial position and attitude of the panel can be intelligently controlled, ensuring coordination errors such as gaps and step differences between the upper panels.

[0029] 4. This invention provides an intelligent, flexible, and adjustable assembly fixture for composite material wing box sections. A scientifically arranged multi-dimensional sensor system enables precise monitoring and stress control during the assembly process. A combination of three-dimensional and six-dimensional force sensors is used, precisely placing sensors at key stress-bearing locations such as the lower beam positioning block connection, the left end rib positioning block, the right end rib sliding mechanism, and the upper beam intersection locator. This allows for comprehensive real-time monitoring of the tensile and compressive stress states during assembly, effectively preventing damage to parts caused by uneven stress. Combined with strain gauge monitoring at the connection points between the upper and lower wall panels and the beam ribs, a dual monitoring system of stress and strain is formed, reducing the risk of structural damage. The sensors are linked with the robotic arm's attitude adjustment system, providing real-time force feedback to the robotic arm, further optimizing attitude adjustment accuracy, and achieving a closed-loop control of monitoring and adjustment. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the tooling frame structure of the present invention;

[0033] Figure 3 This is a schematic diagram showing the distribution of the upper beam positioning device of the present invention;

[0034] Figure 4 This is a schematic diagram showing the distribution of the upper beam positioning device of the present invention;

[0035] Figure 5 This is a schematic diagram of the lower beam positioning device of the present invention;

[0036] Figure 6 This is a schematic diagram of the left-end rib positioning device of the present invention;

[0037] Figure 7 This is a schematic diagram of the hand-tightened cylindrical rotary positioning pin of the present invention;

[0038] Figure 8 This is a schematic diagram of the hand-tightening locking nut of the present invention;

[0039] Figure 9 This is a schematic diagram of the right-end rib positioning device of the present invention;

[0040] Figure 10 This is a schematic diagram of the upper wall panel positioning device of the present invention;

[0041] Figure 11 This is a schematic diagram of the lower wall panel installation state of the present invention;

[0042] Figure 12 This is a schematic diagram of the end effector structure of the six-degree-of-freedom robotic arm of the present invention;

[0043] Figure 13 This is a schematic diagram of the adjusting component structure of the present invention;

[0044] Figure 14 This is a schematic diagram of the first upper wall panel of the present invention in its installation state;

[0045] The components include: 1. Tooling frame; 2. First tooling vertical positioning plate; 3. Second tooling vertical positioning plate; 4. First lower skin side ear positioning plate; 5. Second lower skin side ear positioning plate; 6. Upper beam left side force measuring positioning device; 7. Upper beam middle force measuring positioning device; 8. Upper beam right side force measuring positioning device; 9. Lower beam tooling plate; 10. Lower beam positioning mechanism; 11. First left end rib positioning block support device; 12. Second left end rib positioning block support device; 13. Right end rib positioning plate moving platform; 14. Pushing structure; 15. 16. First positioning shaft; 17. Second positioning shaft; 18. First pressure plate; 19. Second pressure plate; 20. First pressure plate support; 21. Second pressure plate support; 22. Third pressure plate support; 23. Fourth pressure plate support; 24. Six-dimensional force sensor; 25. Upper beam positioning block base; 26. Upper beam positioning block; 27. Connecting piece; 28. Bottom support; 29. ​​Rotary positioning pin; 30. Lower beam guide shaft; 31. Lower beam positioning mechanism cylinder connecting plate; 32. Rod-measuring flange type standard cylinder; 33. Lower beam pin fixing. 33. Fixed block; 34. Three-dimensional force sensor; 35. Lower beam positioning block connecting plate; 36. Lower beam locking nut; 37. Lower beam positioning device fixing plate; 38. Lower beam positioning mechanism cylinder mounting plate; 39. Right end rib cylinder support plate; 40. Thin guide rod cylinder; 41. Cylinder push plate; 42. Baffle; 43. Square linear slider; 44. Horizontal moving platform base plate; 45. Vertical plate; 46. Side rotation positioning pin support; 47. Left end rib positioning block support; 48. Left end rib pin positioning block; 49. 49. Connecting plate; 50. Six-degree-of-freedom robotic arm; 51. End flange; 52. Lower wall plate; 53. Upper beam plate; 54. Left end rib plate; 55. Right end rib plate; 56. First inner rib; 57. Second inner rib; 58. First upper wall plate; 59. Second upper wall plate; 60. Shelf; 61. Rotary positioning pin support on the upper wall plate; 62. Rotary positioning pin support on the lower part of the upper wall plate; 63. Vacuum suction cup; 64. Positioning block connecting plate; 65. Adjustable bolt for tooling base; 66. Adjustable nut for tooling base. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Reference Figures 1-14This invention provides an intelligent, flexible, and adjustable assembly tooling for composite material wing box sections, comprising:

[0049] Tooling frame 1;

[0050] The positioning assembly is installed in the tooling frame 1. The positioning assembly includes a lower wall plate positioning device, an upper beam positioning device, a lower beam positioning device, a left end rib positioning device, a right end rib positioning device, and an upper wall plate positioning device, which are used to clamp the lower wall plate 51, upper beam plate 52, lower beam plate 53, left end rib plate 54, right end rib plate 55 and the first upper wall plate 58 of the wing box structure, respectively.

[0051] The mounting components include a six-degree-of-freedom robotic arm 49 and a shelf 60. The end of the six-degree-of-freedom robotic arm 49 is provided with a mounting component. A second upper wall panel 59 is placed on the shelf 60. The six-degree-of-freedom robotic arm 49 is mounted on the wing box structure by means of the mounting component.

[0052] An adjusting component is installed on the tooling frame 1 and is used to level the tooling frame 1.

[0053] In one embodiment of the present invention, by organically combining the tooling frame 1, the positioning component with force sensing function, the automated installation component and the leveling mechanism, high-precision, high-efficiency and low-damage assembly of complex wing box structures is achieved.

[0054] As an optional implementation, the lower wall panel positioning device includes a first tooling vertical positioning plate 2, a second tooling vertical positioning plate 3, a first lower skin side ear positioning plate 4, and a second lower skin side ear positioning plate 5, which are fixedly connected within the tooling frame 1. Each of the first tooling vertical positioning plate 2, the second tooling vertical positioning plate 3, the first lower skin side ear positioning plate 4, and the second lower skin side ear positioning plate 5 has multiple positioning holes. The lower wall panel 51 is connected to the positioning holes through positioning pins.

[0055] In one embodiment of the present invention, the lower wall panel 51 is installed by means of positioning holes and positioning pins.

[0056] As an optional implementation, the upper beam positioning device includes a left-side upper beam force measuring positioning device 6, a middle upper beam force measuring positioning device 7, and a right-side upper beam force measuring positioning device 8. The left-side upper beam force measuring positioning device 6, the middle upper beam force measuring positioning device 7, and the right-side upper beam force measuring positioning device 8 include a connector 26 fixedly connected to the inner wall of the tooling frame 1. The bottom end of the connector 26 is fixedly connected to an upper beam positioning block base 24. The bottom end of the upper beam positioning block base 24 is fixedly connected to an upper beam positioning block 25 through a six-dimensional force sensor 23. The upper beam positioning block 25 is in contact with the upper beam plate 52, and a rotating positioning pin 28 is provided on the upper beam positioning block 25.

[0057] In one embodiment of the present invention, the upper beam positioning block 25 is connected to the base through a six-dimensional force sensor 23, which not only realizes the precise positioning and support of the upper beam plate, but more importantly, it can monitor in real time the forces on the upper beam plate in three orthogonal directions and the torques around three axes during the assembly process.

[0058] As an optional implementation, the lower beam positioning device includes a lower beam tooling plate 9, which is fixedly connected to the lower part of the tooling frame 1. A lower beam positioning device fixing plate 36 is slidably connected to the lower beam tooling plate 9 via a lower beam guide shaft 29. Multiple lower beam positioning mechanisms 10 are installed on the lower beam positioning device fixing plate 36. Each lower beam positioning mechanism 10 includes a lower beam positioning block connecting plate 34, the top of which passes through the lower beam tooling plate 9 and is fixedly connected to a lower beam pin fixing block 32 via a three-dimensional force sensor 33. The lower beam is provided on the lower beam pin fixing block 32. A locking nut 35 is provided on the lower beam locking nut 35, and a rotating positioning pin 28 is provided on the lower beam locking nut 35. The lower beam pin fixing block 32 is in contact with the lower beam plate 53. The bottom end of the lower beam positioning device fixing plate 36 is fixedly connected to the lower beam positioning mechanism cylinder connecting plate 30. The lower beam tooling plate 9 is fixedly connected to the lower beam positioning mechanism cylinder mounting plate 37. The lower beam positioning mechanism cylinder mounting plate 37 is fixedly connected to the rod measuring flange type standard cylinder 31. The telescopic end of the rod measuring flange type standard cylinder 31 is fixedly connected to the lower beam positioning mechanism cylinder connecting plate 30.

[0059] In one embodiment of the present invention, the entire positioning mechanism is moved as a whole by a cylinder, achieving multi-point synchronous clamping, which improves assembly efficiency and ensures uniform clamping force. The integration of a three-dimensional force sensor allows the clamping force at each (or key) positioning point to be accurately monitored and controlled, ensuring that the fit between the lower beam plate and the lower wall plate and other connecting parts meets the requirements before fastening, and eliminating the risk of overpressure, thus further guaranteeing assembly quality.

[0060] As an optional implementation, the left-end rib positioning device includes a first left-end rib positioning block support device 11 and a second left-end rib positioning block support device 12, which are respectively fixedly connected to the left side wall inside the tooling frame 1. The first left-end rib positioning block support device 11 and the second left-end rib positioning block support device 12 include a left-end rib positioning block support 46, which is installed on the tooling frame 1 through a connector 26. A left-end rib pin positioning block 47 is fixedly connected to the left-end rib pin positioning block support 46. A left-end rib positioning block connecting plate 48 is fixedly connected to the left-end rib pin positioning block 47 through a six-dimensional force sensor 23. A rotating positioning pin 28 is provided on the left-end rib positioning block connecting plate 48, and the left-end rib positioning block connecting plate 48 is in contact with the left-end rib plate 54.

[0061] In one embodiment of the present invention, the positioning hole is a segmented structure consisting of a smooth hole and a threaded hole, equipped with a rotating positioning pin 28 with a straight rod and a threaded structure, and fixed by an internal hexagon bolt. After installation, the upper surface is in contact with the web of the left end rib plate 54. The six-dimensional force sensor 23 is integrated into the connecting plate 48 of the left end rib positioning block, with a reserved φ5mm measuring hole for calibration.

[0062] As an optional implementation, the right-end rib positioning device includes a right-end rib positioning plate moving stage 13 and a pushing structure 14. The right-end rib positioning plate moving stage 13 includes a transverse moving stage base plate 43 fixedly connected to the inner wall of the tooling frame 1. A square linear slider 42 is slidably connected to the transverse moving stage base plate 43. A vertical plate 44 is fixedly connected to one end of the square linear slider 42. The pushing structure 14 includes a right-end rib cylinder support plate 38 fixedly connected to the tooling frame 1. A thin guide rod cylinder 39 is fixedly connected to the right-end rib cylinder support plate 38. The telescopic end of the thin guide rod cylinder 39 is fixedly connected to the square linear slider 42 through a cylinder push plate 40. The vertical plate 44 is connected to the right-end rib plate 55 through a rotating positioning pin 28. A baffle 41 is fixedly connected to the transverse moving stage base plate 43.

[0063] In one embodiment of the present invention, a thin guide rod cylinder 39 is provided to push the transverse moving platform base plate 43 to move, and the transverse moving platform base plate 43 drives the vertical plate 44 to move. The vertical plate 44 is provided with two positioning holes that cooperate with the process positioning holes of the left end rib plate 54, and is equipped with a rotating positioning pin 28 to achieve integrated positioning and clamping. The baffle 41 is used to limit the stroke of the slider.

[0064] As an optional implementation, the upper wall panel positioning device includes a first positioning shaft 15 and two second positioning shafts 16. A side rotation positioning pin support 45 is fixedly connected to the vertical plate 44. The first positioning shaft 15 is fixedly connected to the side rotation positioning pin support 45. The upper and lower parts of the second tooling vertical positioning plate 3 are respectively fixedly connected to an upper wall panel rotation positioning pin support 61 and an upper wall panel lower rotation positioning pin support 62. The two second positioning shafts 16 are respectively fixedly connected to the upper wall panel rotation positioning pin support 61 and the upper wall panel lower rotation positioning pin support 62. Three positioning holes are provided on the side wall of plate 58. The first positioning shaft 15 and the two second positioning shafts 16 correspond to the three positioning holes one by one. The inner wall of the tooling frame 1 is fixedly connected to the first pressure plate support 19, the second pressure plate support 20, the third pressure plate support 21, and the fourth pressure plate support 22. The first pressure plate 17 is provided between the first pressure plate support 19 and the third pressure plate support 21, and the second pressure plate 18 is provided between the second pressure plate support 20 and the third pressure plate support 21. The first pressure plate 17 and the second pressure plate support 20 are respectively in contact with the first upper wall plate 58.

[0065] In one embodiment of the present invention, the positioning of the first upper wall plate 58 is achieved by connecting the first positioning shaft 15 and the two second positioning shafts 16 with the positioning holes of the first upper wall plate 58, and the clamping force is applied by the first pressure plate 17 and the second pressure plate 18 to ensure that the first upper wall plate 58 is securely clamped.

[0066] As an optional implementation, the end of the six-degree-of-freedom robotic arm 49 is connected to a positioning block connecting plate 64 via an end flange 50. The positioning block connecting plate 64 is provided with a plurality of vacuum suction cups 63, which are used to adsorb the second upper wall plate 59. The curvature of the vacuum suction cups 63 is adapted to that of the second upper wall plate 59.

[0067] In one embodiment of the present invention, the second upper wall plate 59 is adsorbed by a vacuum suction cup 63 and transported to the installation position by a six-degree-of-freedom robotic arm 49. The curvature of the vacuum suction cup 63 is adapted to that of the second upper wall plate 59 to ensure stable adsorption of the second upper wall plate 59.

[0068] As an optional implementation method, refer to Figures 7-8 The rotary positioning pin 28 includes a straight rod and a threaded rod, which are integrally formed. The upper beam positioning block 25, the lower beam locking nut 35, the left end rib positioning block connecting plate 48, and the vertical plate 44 are all provided with open holes and threaded holes. The straight rod is adapted to the open holes, and the threaded rod is threadedly connected to the threaded holes.

[0069] In one embodiment of the present invention, a smooth positioning rod is used for positioning, and a configured threaded connecting rod is used to connect with a threaded hole to achieve limiting and ensure stable connection.

[0070] As an optional implementation, the adjusting component includes a plurality of tooling base adjustable nuts 66, which are respectively fixedly connected to the tooling frame 1. Tooling base adjustable nuts 66 are threadedly connected to tooling base adjustable bolts 65, and bottom supports 27 are fixedly connected to the bottom end of tooling base adjustable bolts 65.

[0071] In one embodiment of the present invention, the height of the tooling base is adjusted by tightening the threaded adjustable bolt 65, thereby adjusting the levelness of the entire tooling frame 1. The adjustment range is 0-100mm. A frame-type level with an accuracy class of 0.02mm / m is used to monitor the levelness along the length and width of the wing box tooling frame 1. The adjustable bolts 65 of the tooling base are finely adjusted one by one until the overall level error is ≤0.02mm / m, ensuring the accuracy of the assembly reference.

[0072] In one embodiment of the present invention, during use:

[0073] Lower wall panel 51 assembly:

[0074] The lower wall panel 51 is hoisted to the assembly work area and slowly lowered to fit the working surfaces of the first tooling vertical positioning plate 2 and the second tooling vertical positioning plate 3. The lower skin side ears are aligned with the positioning holes of the first lower skin side ear positioning plate 4 and the second lower skin side ear positioning plate 5. The rotating positioning pin 28 is inserted to achieve over-positioning. After the pin is inserted, there is no looseness. A preset torque of 5-8 N·m is applied by a torque wrench to achieve a stable clamping of the weakly rigid lower wall panel. At this time, the three-dimensional force sensor 33 monitors the force on the positioning plate in real time. If the force exceeds the preset threshold of 500 N, the system issues an alarm signal. The part position is adjusted and then re-clamped.

[0075] Lower beam plate 53 assembly:

[0076] The measuring hole detects the spatial position of the positioning block. When the deviation is ≤0.02mm, the web surface of the lower beam plate 53 is aligned with the three special positioning blocks of the lower beam positioning device. The rotating positioning pin 28 with a straight rod and thread structure is inserted into the rotating positioning pin hole. The rotating pin makes the threaded part engage with the threaded part of the rotating positioning pin hole until the straight rod part of the pin is completely in contact with the hole wall, thus realizing the integration of positioning and clamping functions.

[0077] Assembly of upper beam plate 52:

[0078] Place the upper beam plate 52 between the upper beam positioning block 25 of the upper beam left force measuring positioning device 6 and the upper beam right force measuring positioning device 8, so that both ends of the part are in contact with the leftmost and rightmost fork ear positioning devices. The fork ear holes are matched with the corresponding structures of the positioning devices and are lightly fixed by special fasteners. The six-dimensional force measuring sensor 23 monitors the contact force to ensure uniform force. The force difference between the two ends should be ≤50N to avoid excessive assembly internal stress.

[0079] Left end rib plate 54 assembly:

[0080] The web surface of the left end rib 54 is aligned with the upper plane of the special positioning block of the left end rib positioning device. The process positioning hole is aligned with the positioning hole of the positioning block. The rotating positioning pin 28 with a straight rod and thread structure is inserted. The rotating pin completes the positioning and clamping. The positioning accuracy is calibrated through the reserved measuring hole to ensure that the position deviation of the part is ≤0.03mm.

[0081] Right end rib plate 55 assembly:

[0082] After starting the thin guide rod cylinder 39, the sliding mechanism drives the right end rib positioning plate moving stage 13 to the assembly position. Then, the web surface of the right end rib plate 55 is attached to the positioning plate, the process positioning hole is aligned with the positioning hole, the rotating positioning pin 28 is inserted and rotated to clamp, and then the calibration is performed again through the measuring hole. Subsequently, the cylinder drives the right end rib positioning plate moving stage 13 to make fine adjustments so that the gap between the right end rib and other components meets the design requirements.

[0083] Assembly of internal rib parts:

[0084] The first inner rib 56 and the second inner rib 57 utilize their own preset high-precision process positioning holes to directly cooperate with the corresponding positioning structures of the upper beam plate 52, lower beam plate 53, and lower wall plate 51 in a self-positioning manner. The laser scanner monitors the posture of the inner rib parts in real time, and fixation is completed when the posture deviation is ≤0.10mm.

[0085] First upper wall panel 58 assembly:

[0086] The first upper wall plate 58 is hoisted to the assembly position and fitted to the working surface of the vertical positioning plate of the tooling. The process lugs are aligned with the first positioning shaft 15 and the second positioning shaft 16 respectively. After the positioning shafts are inserted, the pins fit tightly against the hole wall. The first pressure plate 17 and the second pressure plate 18 are pressed together. The strain gauge monitors the strain status at the connection in real time. When the strain value exceeds the preset limit of 1500με, the operation is stopped and the problem is investigated and adjusted.

[0087] Second upper wall panel 59 assembly:

[0088] The second upper wall panel 59 is placed on the worktable 60 to the left of the six-degree-of-freedom robotic arm 49. The six-degree-of-freedom robotic arm 49 is started and uses the vacuum suction cup 63 to pick up the second upper wall panel 59 from the worktable. Based on the initial pose information obtained by the laser tracker and laser scanner, the movement and rotation of the six-degree-of-freedom robotic arm 49 are adjusted to change the spatial position and attitude of the second upper wall panel 59, so that the coordination gap error between it and the first upper wall panel 58 is ≤0.20mm and the step difference error is ≤0.10mm. At the same time, the vacuum suction cup 63 maintains stable adsorption. After positioning is completed, it is fixed by auxiliary fasteners, and the six-degree-of-freedom robotic arm 49 is released and reset.

[0089] Post-assembly removal from shelf:

[0090] After all parts are assembled, the assembly gap (≤0.05mm), strain state (no abnormal strain concentration), and stress data (all within the preset threshold) at each connection are checked to confirm that the assembly quality is qualified. The positioning components are then released, and the assembled composite material wing box section is slowly lifted off the fixture using hoisting equipment. During the lifting process, the laser scanner monitors the distance between the wing box and the fixture in real time to avoid collisions until the wing box is completely removed from the assembly work area, and the unloading operation is completed.

[0091] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0092] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A smart, flexible, and adjustable assembly tooling for composite material wing box sections, characterized in that, include: Tooling frame (1); The positioning assembly is installed in the tooling frame (1). The positioning assembly includes a lower wall panel positioning device, an upper beam positioning device, a lower beam positioning device, a left end rib positioning device, a right end rib positioning device, and an upper wall panel positioning device, which are used to clamp the lower wall panel (51), upper beam panel (52), lower beam panel (53), left end rib panel (54), right end rib panel (55), and first upper wall panel (58) of the wing box structure, respectively. The mounting assembly includes a six-degree-of-freedom robotic arm (49) and a shelf (60). The end of the six-degree-of-freedom robotic arm (49) is provided with a mounting component. A second upper wall panel (59) is placed on the shelf (60). The six-degree-of-freedom robotic arm (49) installs the second upper wall panel (59) on the wing box structure through the mounting component. An adjusting component is provided on the tooling frame (1) and is used to level the tooling frame (1).

2. The intelligent flexible adjustable assembly tooling for composite material wing box sections according to claim 1, characterized in that: The lower wall panel positioning device includes a first tooling vertical positioning plate (2), a second tooling vertical positioning plate (3), a first lower skin side ear positioning plate (4), and a second lower skin side ear positioning plate (5) fixedly connected within the tooling frame (1). The first tooling vertical positioning plate (2), the second tooling vertical positioning plate (3), the first lower skin side ear positioning plate (4), and the second lower skin side ear positioning plate (5) are all provided with multiple positioning holes. The lower wall panel (51) is connected to the positioning holes through positioning pins.

3. The intelligent flexible adjustable assembly fixture for composite material wing box sections according to claim 2, characterized in that: The upper beam positioning device includes a left upper beam force measuring positioning device (6), a middle upper beam force measuring positioning device (7), and a right upper beam force measuring positioning device (8). The left upper beam force measuring positioning device (6), the middle upper beam force measuring positioning device (7), and the right upper beam force measuring positioning device (8) include a connector (26) fixedly connected to the inner wall of the tooling frame (1). The bottom end of the connector (26) is fixedly connected to an upper beam positioning block base (24). The bottom end of the upper beam positioning block base (24) is fixedly connected to an upper beam positioning block (25) through a six-dimensional force sensor (23). The upper beam positioning block (25) is in contact with the upper beam plate (52). A rotating positioning pin (28) is provided on the upper beam positioning block (25).

4. The intelligent flexible adjustable assembly tooling for composite material wing box sections according to claim 3, characterized in that: The lower beam positioning device includes a lower beam tooling plate (9), which is fixedly connected to the lower part of the tooling frame (1). A lower beam positioning device fixing plate (36) is slidably connected to the lower beam tooling plate (9) through a lower beam guide shaft (29). Multiple lower beam positioning mechanisms (10) are installed on the lower beam positioning device fixing plate (36). Each lower beam positioning mechanism (10) includes a lower beam positioning block connecting plate (34), the top of which passes through the lower beam tooling plate (9) and is fixedly connected to a lower beam pin fixing block (32) through a three-dimensional force sensor (33). A lower beam locking nut (35) is provided on the lower beam pin fixing block (32). The lower beam locking nut (35) is provided with a rotating positioning pin (28), the lower beam pin fixing block (32) is in contact with the lower beam plate (53), the bottom end of the lower beam positioning device fixing plate (36) is fixedly connected to the lower beam positioning mechanism cylinder connecting plate (30), the lower beam tooling plate (9) is fixedly connected to the lower beam positioning mechanism cylinder mounting plate (37), the lower beam positioning mechanism cylinder mounting plate (37) is fixedly connected to the rod measuring flange type standard cylinder (31), and the telescopic end of the rod measuring flange type standard cylinder (31) is fixedly connected to the lower beam positioning mechanism cylinder connecting plate (30).

5. The intelligent flexible adjustable assembly fixture for a composite material wing box section according to claim 4, characterized in that: The left-end rib positioning device includes a first left-end rib positioning block support device (11) and a second left-end rib positioning block support device (12), which are fixedly connected to the left side wall inside the tooling frame (1). The first left-end rib positioning block support device (11) and the second left-end rib positioning block support device (12) include a left-end rib positioning block support (46), which is installed on the tooling frame (1) through a connector (26). A left-end rib pin positioning block (47) is fixedly connected to the left-end rib positioning block support (46). A left-end rib positioning block connecting plate (48) is fixedly connected to the left-end rib pin positioning block (47) through a six-dimensional force sensor (23). A rotating positioning pin (28) is provided on the left-end rib positioning block connecting plate (48). The left-end rib positioning block connecting plate (48) is in contact with the left-end rib plate (54).

6. The intelligent flexible adjustable assembly fixture for a composite material wing box section according to claim 5, characterized in that: The right end rib positioning device includes a right end rib positioning plate moving stage (13) and a pushing structure (14). The right end rib positioning plate moving stage (13) includes a transverse moving stage base plate (43) fixedly connected to the inner wall of the tooling frame (1). A square linear slider (42) is slidably connected to the transverse moving stage base plate (43). A vertical plate (44) is fixedly connected to one end of the square linear slider (42). The pushing structure (14) includes a right end rib cylinder support plate (38) fixedly connected to the tooling frame (1). A thin guide rod cylinder (39) is fixedly connected to the right end rib cylinder support plate (38). The telescopic end of the thin guide rod cylinder (39) is fixedly connected to the square linear slider (42) through a cylinder push plate (40). The vertical plate (44) is connected to the right end rib plate (55) through a rotating positioning pin (28). A baffle (41) is fixedly connected to the transverse moving stage base plate (43).

7. The intelligent flexible adjustable assembly tooling for composite material wing box sections according to claim 6, characterized in that: The upper wall panel positioning device includes a first positioning shaft (15) and two second positioning shafts (16). A side rotation positioning pin support (45) is fixedly connected to the vertical plate (44). The first positioning shaft (15) is fixedly connected to the side rotation positioning pin support (45). The upper and lower parts of the second tooling vertical positioning plate (3) are respectively fixedly connected to an upper wall panel rotation positioning pin support (61) and an upper wall panel lower rotation positioning pin support (62). The two second positioning shafts (16) are respectively fixedly connected to the upper wall panel rotation positioning pin support (61) and the upper wall panel lower rotation positioning pin support (62). Three [unclear] are provided on the side wall of the first upper wall panel (58). The positioning holes are provided, and the first positioning shaft (15) and the two second positioning shafts (16) correspond one-to-one with the three positioning holes. The tooling frame (1) is fixedly connected with the first pressure plate support (19), the second pressure plate support (20), the third pressure plate support (21), and the fourth pressure plate support (22). The first pressure plate (17) is provided between the first pressure plate support (19) and the third pressure plate support (21), and the second pressure plate (18) is provided between the second pressure plate support (20) and the third pressure plate support (21). The first pressure plate (17) and the second pressure plate support (20) are respectively in contact with the first upper wall plate (58).

8. The intelligent flexible adjustable assembly tooling for composite material wing box sections according to claim 1, characterized in that: The end of the six-degree-of-freedom robotic arm (49) is connected to a positioning block connecting plate (64) via an end flange (50). The positioning block connecting plate (64) is provided with a plurality of vacuum suction cups (63). The vacuum suction cups (63) are used to adsorb the second upper wall plate (59). The curvature of the vacuum suction cups (63) is adapted to that of the second upper wall plate (59).

9. The intelligent flexible adjustable assembly tooling for composite material wing box sections according to claim 6, characterized in that: The rotating positioning pin (28) includes a straight rod and a threaded rod. The straight rod and the threaded rod are integrally formed. The upper beam positioning block (25), the lower beam locking nut (35), the left end rib positioning block connecting plate (48), and the vertical plate (44) are all provided with open holes and threaded holes. The straight rod is adapted to the open hole, and the threaded rod is threadedly connected to the threaded hole.

10. The intelligent flexible adjustable assembly tooling for composite material wing box sections according to claim 1, characterized in that: The adjusting component includes multiple tooling base adjustable nuts (66), which are fixedly connected to the tooling frame (1). The tooling base adjustable nuts (66) are threaded with tooling base adjustable bolts (65), and the bottom end of the tooling base adjustable bolts (65) is fixedly connected with a bottom support (27).

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